CN115515105A - Method for determining mutually hidden road side units, information processing method and device - Google Patents
Method for determining mutually hidden road side units, information processing method and device Download PDFInfo
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Abstract
The application provides a method for determining road side units which are mutually hidden, and an information processing method and device, and relates to the technical field of internet of vehicles. The method for determining the mutually hidden RSUs applied to the network side equipment comprises the following steps: acquiring reported information sent by a plurality of signal receiving units after receiving signals sent by road side units; the reported information comprises first identification information of the signal receiving unit and second identification information of the road side unit; and determining the road side units which are hidden from each other in the plurality of road side units according to the plurality of reported information. According to the technical scheme, through analyzing a plurality of reported information, special road test is not needed, whether the road side units which are mutually hidden exist in the road side units can be determined, and therefore potential safety hazards brought to safe driving of vehicles and vulnerable traffic participants when the road side units which are mutually hidden exist are avoided.
Description
Technical Field
The application relates to the technical field of communication, in particular to a method for determining mutually hidden road side units in a vehicle networking system, and an information processing method and device.
Background
As shown in fig. 1, when two Road Side Units (RSUs) are far away (e.g. 2 km) from each other, the two RSUs cannot see each other, but the On Board Units (OBUs) or vulnerable traffic participant units (VRUs) may receive signals transmitted by the two RSUs at the same time, resulting in an overlapping area between the two RSUs. As also shown in fig. 2, a building exists between two RSUs, resulting in that the two RSUs cannot see each other, but the OBU can receive signals transmitted by the two RSUs at the same time, resulting in an overlapping region between the two RSUs.
That is, in the vehicle-mounted cellular internet of vehicles (C-V2X), although there is an obvious overlapping coverage between adjacent RSUs due to a distance or a shielding, the adjacent RSUs cannot transmit and receive data to each other, and hereinafter, this scenario is referred to as "mutually hidden nodes".
According to the definition of a standard specification aiming at a scheduling process, only terminals capable of Sensing (Sensing) each other can avoid selected resources as much as possible through a resource selection process, and further avoid packet loss caused by resource collision as much as possible; for the case of mutual hidden nodes, the resources selected from each other cannot avoid collision because they cannot be perceived mutually.
If the resources selected by the RSUs which are mutually hidden nodes collide, the receiving performance of the OBUs or the VRUs in the overlapped coverage areas of the two RSUs is obviously affected, the signal of at least one RSU cannot be correctly received, and in a poor condition, the signals of the two RSUs cannot be correctly received, so that the driving safety of vehicles and vulnerable traffic participant units is threatened.
Due to the complexity of wireless transmission, whether the RSUs are hidden nodes each other cannot be judged by simple rules such as the distance between the RSUs. If the field test is carried out by the way of drive test and the like, the consumption is huge and the dynamic change of the network environment cannot be adapted.
Disclosure of Invention
The embodiment of the application provides a method for determining mutually hidden road side units, an information processing method and an information processing device, and aims to solve the problem that mutually hidden road side units cannot be judged in the prior art.
In order to solve the technical problem, the following technical scheme is adopted in the application:
the embodiment of the application provides a method for determining road side units which are mutually hidden, which is applied to network side equipment, and the method comprises the following steps:
acquiring reported information sent by a plurality of signal receiving units after receiving signals sent by road side units; wherein, the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit;
and determining the road side units which are hidden from each other in the plurality of road side units according to the plurality of reported information.
Optionally, the signal receiving unit includes a first receiving unit and a second receiving unit;
the method for acquiring the report information sent by the multiple signal receiving units after receiving the signals sent by the road side unit comprises the following steps:
acquiring first reporting information sent by a first receiving unit after receiving a signal sent by a road side unit, and acquiring second reporting information sent by a second receiving unit after receiving the signal sent by the road side unit;
wherein, according to the plurality of reported information, determining that the road side units in the plurality of road side units are hidden road side units, comprises:
and determining the road side units which are hidden from each other in the plurality of road side units according to the first reporting information and the second reporting information.
Optionally, the first identification information of the signal receiving unit in the first reporting information is coordinate information of the first receiving unit;
determining the road side units which are hidden from each other in the plurality of road side units according to the first reporting information and the second reporting information, including:
determining a first relation table of the road side units which are perceived mutually in the plurality of road side units according to the first identification information and the second identification information of the second reported information;
determining the number of road side units which send signals to a preset step range corresponding to the coordinate information of the first receiving unit according to the first identification information and the second identification information of the first reporting information, and determining the road side units which send the signals according to the second identification information;
if the number of the road side units is at least two, determining the road side units for sending signals according to the first relation table and the second identification information of the first receiving unit, and determining that the road side units are hidden road side units in a plurality of road side units;
and if the number of the road side units is one, determining the coordinate information of the first receiving unit, wherein the road side units which are hidden do not exist in the plurality of road side units.
Optionally, the coordinate information is represented by a grid coordinate, where the grid coordinate is a position coordinate formed by meshing the geographic position in three dimensions of longitude, latitude, and height according to a preset step range.
Optionally, determining rsus to send signals according to the first relationship table and the second identification information of the first receiving unit, and determining rsus that are hidden from each other in the multiple rsus, includes:
determining the road side units which send signals according to the second identification information of the first receiving unit, and arranging and combining every two road side units as a group to determine a plurality of groups of road side units;
and removing the road side units corresponding to the first relation table from the multiple groups of road side units, and determining the remaining road side units as the road side units which are hidden from each other in the multiple road side units.
The embodiment of the present application further provides a signal processing method, which is applied to a signal receiving unit, and the method includes:
after receiving an interactive signal sent by a road side unit, sending report information to network side equipment;
the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit.
Optionally, the signal receiving unit includes a first receiving unit, and the first identification information of the signal receiving unit in the report information is coordinate information of the first receiving unit.
Optionally, the coordinate information is represented by a grid coordinate, where the grid coordinate is a position coordinate formed by meshing a geographic position in three dimensions of longitude, latitude, and height according to a preset step range.
Optionally, the method further includes:
acquiring the geographic position of the first receiving unit;
and converting the geographic position into a grid coordinate according to a preset step range acquired in advance.
Optionally, the converting the geographic location into grid coordinates includes:
obtaining an origin coordinate of a grid coordinate, wherein the origin coordinate comprises coordinate values of the origin in three dimensions of longitude, latitude and height;
according to the geographic position, determining coordinate values of the first receiving unit in three dimensions of longitude, latitude and height;
respectively calculating a target difference between the coordinate value of each dimension of the first receiving unit and the coordinate value of each dimension corresponding to the origin;
and determining the grid coordinates of each dimension of the first receiving unit according to the target difference of each dimension and a preset dimension step length corresponding to the preset step length range.
The embodiment of the present application further provides a device for determining road side units that are hidden from each other, which is applied to a network side device, and the device includes:
the acquisition module is used for acquiring the report information sent by the plurality of signal receiving units after receiving the signals sent by the road side unit; the reported information comprises first identification information of the signal receiving unit and second identification information of the road side unit;
and the determining module is used for determining the road side units which are hidden from each other in the plurality of road side units according to the plurality of reported information.
The embodiment of the present application further provides a signal processing apparatus, which is applied to a signal receiving unit, and the method includes:
the transmitting module is used for transmitting report information to the network side equipment after receiving the interactive signal transmitted by the road side unit;
the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit.
An embodiment of the present application further provides a network device, including: a processor, a memory and a program stored in the memory and capable of running on the processor, wherein when the program is executed by the processor, the steps of the method for determining mutual hidden rsus as described above are realized.
An embodiment of the present application further provides a readable storage medium, where a program is stored, and when the program is executed by a processor, the step of the method for determining mutually hidden roadside units as described above is implemented, or when the program is executed, the step of the method for processing signals as described above is implemented.
The beneficial effect of this application is:
in the above technical solution, the method for determining that the roadside units are hidden each other, which is applied to the network side device, includes: acquiring reported information sent by a plurality of signal receiving units after receiving signals sent by road side units; wherein, the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit; the network side equipment determines the road side units which are mutually hidden in the road side units by analyzing the plurality of reported information without special road test, solves the problem that the prior art cannot judge that the road side units are mutually hidden, and improves the driving safety of vehicles.
Drawings
FIG. 1 shows one of the prior art vehicular cellular Internet of vehicle system architecture diagrams;
FIG. 2 shows one of the prior art in-vehicle cellular Internet of vehicle system architecture diagrams;
fig. 3 is a schematic flow chart illustrating a method for determining mutually hidden roadside units according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an architecture of a vehicle-mounted cellular Internet of vehicles system provided by an embodiment of the present application;
fig. 5 is a schematic flowchart of a signal processing method according to an embodiment of the present application;
fig. 6 is a schematic block diagram of a device for determining mutually hidden roadside units according to an embodiment of the present application;
fig. 7 is a block diagram of a signal processing apparatus according to an embodiment of the present disclosure;
fig. 8 is a block diagram of a network side device according to an embodiment of the present application.
Detailed Description
To make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following detailed description is made with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the embodiments of the present application be fully understood. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be implemented in sequences other than those illustrated or described herein. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
In various embodiments of the present application, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It should be noted that the conventional method for learning that Road Side Units (RSUs) are mutually hidden is road test, that is, traversal test is performed on a road through a test terminal, and then the road side units are mutually hidden through data processing at a later stage, whereas the method for road test in the prior art needs to consume a large amount of manpower and material resources and has high cost; moreover, the road test is difficult to perform, and therefore, the completeness is difficult to ensure. In addition, the network environment is not invariable, but continuously changes, for example, the conditions of buildings and trees on the road may change, so that the conditions of whether the Road Side Units (RSUs) can be mutually perceived change; the amount of traffic carried by each RSU varies; RSUs deployed in the network are varied; therefore, it is difficult for the method of drive test to ensure real-time performance. It is thus difficult to determine that the road side units are hidden from each other by means of the method of drive testing of the prior art.
The application provides a method for determining mutual hidden road side units, a method for processing information and a device thereof, aiming at the problem that the mutual hidden road side units can not be judged in the prior art.
As shown in fig. 3, an embodiment of the present application provides a method for determining roadside units that are hidden from each other, which is applied to a network side device, and includes;
and 200, determining the road side units which are hidden from each other in the road side units according to the reported information.
In this embodiment, the network side device obtains the report information sent by the multiple signal receiving units after receiving the signals sent by the road side unit; the signal receiving unit comprises but is not limited to an On Board Unit (OBU) or a vulnerable traffic participant unit (VRU), a Road Side Unit (RSU) and the like; after acquiring the plurality of reported information, through the analysis in step 200, the roadside units which are mutually hidden in the plurality of roadside units are determined without special drive tests, so that the problem that the prior art cannot judge that the roadside units are mutually hidden is solved, and the driving safety of the vehicle is improved. The method can periodically acquire a plurality of pieces of reported information so as to meet the requirements of acquiring the reported information of the signal receiving unit at different positions, and dynamically analyzing and determining the road side units which are hidden from each other in the plurality of road side units.
Optionally, the signal receiving unit includes a first receiving unit and a second receiving unit;
wherein, the step 100 comprises:
acquiring first reporting information sent by a first receiving unit after receiving a signal sent by an RSU (remote subscriber Unit) and acquiring second reporting information sent by a second receiving unit after receiving the signal sent by the RSU;
here, the first receiving unit is preferably an OBU/VRU; the second receiving unit is preferably an RSU, and the second reporting information is reporting information sent by the RSU after receiving a signal sent by another RSU.
Wherein, the step 200 includes:
step 210, according to the first reporting information and the second reporting information, it is determined that RSUs that are hidden from each other in the multiple RSUs.
In this embodiment, in step 100, two types of reporting information are obtained, one type of reporting information is reporting information using a first receiving unit as a reporting main body, that is, first reporting information, and the other type of reporting information is reporting information using a second receiving unit as a reporting main body, that is, second reporting information; the first receiving unit is preferably an OBU/VRU, when the second receiving unit is preferably an RSU, namely the OBU/VRU receives a signal sent by the RSU in the process of moving on a road, the OBU/VRU should record an RSU identifier D for sending the message and the power P of the message are first reporting information, and the OBU/VRU can report the first reporting information to the network side equipment after the first reporting information is removed by a cycle; similarly, the RSU may also receive a signal transmitted by another RSU, and when the RSU identified as S receives another RSU message, the RSU may also obtain an identifier D of the other RSU that transmits the message and a power P of the message, and the RSU that receives the signal transmitted by the other RSU should record the information in the second reporting information, and report the FRSU list to the network side device after deduplication. Optionally, in order to facilitate subsequent resource allocation for the RSU by the network side device, the RSU may also report information that may reflect service load information (CR information) and the like. In step 200, according to the first reporting information and the second reporting information, it is determined that RSUs that are hidden from each other are in the multiple RSUs.
It should be noted that after acquiring the first reported information (fsteminal list) reported by the first receiving unit and the second reported information (FRSU list) reported by the second receiving unit, the network side device may perform a summary analysis periodically (for example, in units of days or weeks), and sets after the summary are respectively recorded as LFteminal = { fsteminal | fsteminal is all received message information from the first receiving unit } and LFRSU = { FRSU | FRSU is all received message information from the second receiving unit }. For LFteminal and LFRSU, a deduplication operation is required.
Optionally, the first identification information of the signal receiving unit in the first reporting information is coordinate information of the first receiving unit;
the step 210 includes:
step 211, determining a first relation table of the roadside units which are perceived from each other among the plurality of roadside units according to the first identification information and the second identification information of the second reported information;
here, when the second receiving unit is preferably an RSU, the second reporting information is sent by an RSU after receiving a signal sent by another RSU, the first identification information of the second reporting information is identification information of a reporting RSU, the second identification information of the second reporting information is identification information of another RSU, a group of RSUs that are mutually aware can be determined according to the first identification information and the second identification information, and since data of multiple signal receiving units are obtained, it is necessary to deduplicate multiple groups of RSUs that are mutually aware, and then determine the first relation table for the remaining RSUs that are mutually aware.
Step 212, according to the first identification information and the second identification information of the first reporting information, determining the number of RSUs transmitting signals within a preset step range corresponding to the coordinate information of the first receiving unit, and according to the second identification information, determining a road side unit transmitting signals;
for example, when the coordinate information of the first receiving unit (OBU/VRU) is a, the number of RSUs corresponding to the coordinate information of the first receiving unit (OBU/VRU) and RSUs determining to transmit signals may be 4 RSUs, and the identifiers of the 4 RSUs are 1 to 4, and of course, the number of RSUs corresponding to the coordinate information of each OBU/VRU is different from the RSUs determining to transmit signals, and is determined according to the actual first reported information.
Step 213, if the number of the RSUs is at least two, determining the RSUs that send signals according to the first relation table and the second identification information of the first receiving unit, and determining RSUs that are hidden from each other among the RSUs;
in this embodiment, the coordinate information m of the first receiving unit (OBU/VRU) is added to the first reporting information (Fteminal list), that is, when the m rows are coordinate, the number of RSUs is at least two, and according to the number of RSUs corresponding to the m rows and the relationship in the first relationship table, RSUs that are hidden from each other in the multiple RSUs can be determined.
Step 214, if the number of the rsus is one, determining the coordinate information of the first receiving unit, and no rsus hidden from each other exist in the rsus.
In this embodiment, when the number of RSUs is one in the m-row coordinates, the coordinate information of the first receiving unit (OBU/VRU) is determined, and RSUs hidden from each other do not exist in the plurality of RSUs.
It should be noted that, if there is no RSU hidden from each other in the multiple RSUs, no special processing is needed, because there is no RSU hidden from each other, it is ensured that resources are staggered during scheduling through the sensing process defined by the standard; for the determined mutually hidden RSUs, measures may be taken to configure mutually orthogonal transmission resources for the mutually hidden RSUs, and the process may refer to information such as CR and the like that may be reported by the RSUs.
Specifically, the coordinate information is represented by grid coordinates, where the grid coordinates are position coordinates formed by meshing a geographic position in three dimensions of longitude, latitude, and height according to a preset step range.
In this embodiment, a gridded origin of coordinates P0 is set, assuming that the longitude, latitude, and altitude of the origin are LON0, LAT0, and ELE0, respectively; setting preset step ranges of longitude, latitude and altitude as SLON, SLAT and SELE respectively, determining position coordinates corresponding to longitude according to LON, LON0 and SLON for any point, and determining position coordinates of latitude and altitude in the same way, and finally expressing the corresponding position coordinates by using (i, j, k) grid coordinates.
Certainly, the network side device records the longitude and latitude of each RSU, the device serial number of the RSU, and other information in advance. The RSU is used as a network device, and a professional operator generally operates the RSU, so that real-time update of device information of the RSU can be guaranteed.
Optionally, the step 213 includes:
step 2131, determining, by using each two RSUs, RSUs that send signals according to the second identification information of the first receiving unit, to arrange and combine, and determining multiple sets of road side units;
in step 2132, in the multiple groups of RSUs, removing the RSUs corresponding to the first relation table, and determining that the remaining RSUs are hidden RSUs among the multiple RSUs.
Explained here with a specific embodiment, when the first receiving unit is an OBU/VRU, it is assumed that the RSU of the transmission signal is determined by the second identification information of the OBU/VRU at the time of the m-coordinate as follows: 1. 2,3 and 4, the RSUs are arranged and combined by combining every two RSUs into a group, and six combinations of (1, 2), (1, 3), (1, 4), (2, 3), (2, 4) and (3, 4) are formed.
In this embodiment, if a plurality of RSUs have five RSUs in total, and RSUs corresponding to the first relation table are (1, 2) and (2, 5), since six combinations formed in the plurality of RSUs can only remove (1, 2), it is determined that five combinations of (1, 3), (1, 4), (2, 3), (2, 4) and (3, 4) are hidden RSUs among the plurality of RSUs in the m-coordinate.
Optionally, after it is determined that the road side units are hidden from each other among the plurality of road side units, the method further includes:
according to the reflective service load information (CR information) of each RSU, different time-frequency resources are allocated to the RSU, and the specific allocation scheme is deployed in the scope of the application.
The following is merely an example to facilitate explanation of the allocation principles of the present application. For example, in 1-6 RSUs, the RSUs that are hidden from each other in the multiple RSUs are determined as: five combinations of (1, 2), (1, 4), (2, 3), (3, 4) and (4, 6). In case of the same RSU load: the allocation starts from 1, since 1 and 2, 1 and 4 are all hidden nodes of each other, and 2 and 4 are visible to each other, RSU 1 can be allocated subframes with even number, and 2 and 4 can be allocated subframes with odd number. Since 2 and 3 and 4 and 3 are hidden nodes from each other and 2 and 4 have already been allocated odd subframes, 3 and 1 are visible to each other, 1 has allocated even subframes, then 3 can be allocated even subframes as well since 4 and 6 are hidden nodes from each other, 4 has allocated odd subframes, then 6 can be allocated even subframes
If the traffic load of the RSUs is different, the resources may be divided into more shares to achieve non-even allocation of resources among different RSUs.
In a specific embodiment, as shown in fig. 4, fig. 4 is a schematic diagram of an architecture of a vehicle-mounted cellular internet of things system provided in the embodiment of the present application, that is, taking the intersection of fig. 4 as an example, 6 RSUs are deployed together, and it is assumed that data Source Layer addresses (Source Layer-2 IDs) of the 6 RSUs are 1,2,3,4,5,6, respectively. The signal receiving unit includes a second receiving unit, and when the second receiving unit is an RSU, the mutual-view relationship between RSUs may be obtained according to second reported information reported by the RSU, that is, an LFRSU list, as shown in table 1, where × represents a signal of RSUs that are mutually perceived, where a row represents that the signal receiving unit includes an RSU (reported RSU), and a column represents another RSU (signal source RSU) of the transmitted signal.
Table 1: second reporting information reported by RSU
The signal receiving unit includes a first receiving unit, and when the first receiving unit is an OBU/VRU, the mutual-view relationship between the RSU and the OBU/VRU may be obtained according to first reporting information, that is, an Fteminal list, reported by the OBU/VRU, as shown in table 2, where × indicates that the OBU/VRU may determine a RSU that transmits a signal, that is, may receive a signal of the RSU, where a row indicates a RSU (signal source RSU) that transmits a signal, and a list indicates coordinate information of the OBU/VRU.
Table 2: first reporting information reported by OBU/VRU
As can be seen from table 1 above: the six combinations of (1, 3), (2, 4), (3, 1), (3, 5), (4, 2) and (5, 3) are RSUs that are mutually perceptive, and RSUs that are mutually hidden at each coordinate position are analyzed in turn according to the step 2131 and the step 2132.
Here, taking the a coordinate as an example, the OBU/VRU of the a coordinate determines RSUs of transmission signals to be 1 to 4, and if two RSUs are arranged and combined with each other as a set, six combinations of (1, 2), (1, 3), (1, 4), (2, 3), (2, 4), and (3, 4) are formed, but if it is known from the relationship of table 1 that (1, 3) and (2, 4) are RSUs that are perceived by each other, it is determined that four combinations of (1, 2), (1, 4), (2, 3), and (3, 4) are RSUs that are hidden by each other in the a coordinate.
It should be noted that, taking the I coordinate as an example, the OBU/VRU of the I coordinate determines that the RSU sending the signal is 4, that is, the RSU number of the information reported by the OBU/VRU is one RSU, and it is determined that there are no RSUs hidden from each other in the I coordinate.
In summary, the method of the application can accurately grasp the mutual hidden node relationship among RSUs in the C-V2X network in real time without special drive test, and further avoid the mutual hidden nodes of the RSUs through subsequent network optimization, thereby bringing additional threat to safe driving of vehicles.
As shown in fig. 5, an embodiment of the present application further provides a signal processing method applied to a signal receiving unit, where the method includes:
the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit.
In this embodiment, when the RSU identified as S receives another RSU message, the RSU identified as S may also obtain the identifier D of the RSU sending the message and the power P of the message, and the RSU should record the information in the rssu = { S, D }, and report the FRSU list to the network side device after deduplication.
It should be noted that, the RSU may directly receive management of the network side device, and in terms of the identifier S, besides being selected as a data Source Layer address (Source Layer-2 ID), the RSU may also be selected as a device serial number, or a serial number compiled by the network side device for the RSU, and the like.
Optionally, the signal receiving unit includes a first receiving unit, where when the first receiving unit is an OBU/VRU, and when the signal receiving unit receives a message, whether information corresponding to the message is added to the reporting list may increase some rules, for example, when the power P must be greater than a certain threshold, the RSU is considered to form effective coverage on the network, and then the RSU is added to the reporting list, so as to improve the validity of the list. The terminal can also report all information, and the identification of the valid data is carried out on the network side equipment, so that the application is not limited.
Optionally, the signal receiving unit includes a first receiving unit, and the first identification information of the signal receiving unit in the report information is coordinate information of the first receiving unit.
Optionally, the coordinate information is represented by a grid coordinate, where the grid coordinate is a position coordinate formed by meshing a geographic position in three dimensions of longitude, latitude, and height according to a preset step range.
The coordinate information is represented by grid coordinates, wherein the grid coordinates are position coordinates formed by grid division of the geographic position according to a preset step range in the three dimensions of longitude, latitude and height.
In this embodiment, a gridded origin of coordinates P0 is set, assuming that the longitude, latitude, and altitude of the origin are LON0, LAT0, and ELE0, respectively; if the preset step ranges of longitude, latitude and altitude are set to be SLON, SLAT and SELE respectively, for any point, such as the longitude, the latitude and the altitude are LON, LAT and ELE respectively, the position coordinates corresponding to the longitude can be determined according to LON, LON0 and SLON, and similarly, the position coordinates of the latitude and the altitude can be determined, and finally, the grid coordinates are represented by (i, j, k) to be corresponding.
It should be noted that, the setting of the preset step range can refer to the situation of the network, for example, in an urban area, the vehicle speed is generally low (the speed per second is generally lower than 20 m/s), and the period of the current RSU typical service is 1 second, it can be considered that the coverage of the RSU does not change significantly in the 20 m range, that is, if some RSU signals are received in the 20 m range, it can be considered that the RSUs have overlapping coverage, and therefore, the SLON and the SLAT can be set to the latitude and longitude change value corresponding to the distance of 20 m. For SELE, the typical change of the elevation in SLON and SLAT can be selected by comprehensively considering the conditions of terrain, overpasses and the like. For example, the slope of the general road is not more than 10%, and when SLON and SLAT are set to 20 meters, SELE may be set to 2 meters.
Optionally, the method further includes:
acquiring the geographical position of the first receiving unit;
and converting the geographic position into a grid coordinate according to a preset step range acquired in advance.
Here, the first receiving unit is preferably an OBU/VRU, that is, a geographic location of the OBU/VRU is obtained, that is, coordinate values of the OBU/VRU in three dimensions of longitude, latitude and height are determined, and the coordinate values are converted into geographic locations and grid coordinates through a preset step range obtained in advance. The first reporting information which is sent by the OBU/VRU after receiving the signal sent by the RSU in the preset step length range is more easily obtained through grid coordinate representation, real-time updating of the OBU/VRU in the preset step length range can be guaranteed instead of counting at each geographic position, and the data processing difficulty is reduced.
Optionally, the converting the geographic location into grid coordinates includes:
acquiring an origin coordinate of a grid coordinate, wherein the origin coordinate comprises coordinate values of the origin in three dimensions of longitude, latitude and height;
according to the specific situation of the city, determining the origin of coordinates of a coordinate positioning grid as a reference point for judging the mutual positions in the city; here, the coordinate values in the three dimensions of longitude, latitude and height are LON0, LAT0 and ELE0, and the settings of LON0, LAT0 and ELE0 and the preset step range require synchronization among the network-side device, RSU, OBU/VRU. The configuration synchronization method can be in a preset or remote configuration mode.
Determining coordinate values of the first receiving unit (OBU/VRU) in three dimensions of longitude, latitude and height according to the geographic position; here, the longitude, latitude, and altitude of the OBU/VRU are denoted LON, LAT, and ELE, respectively.
Respectively calculating a target difference between the coordinate value of each dimension of the OBU/VRU and the coordinate value of each dimension corresponding to the origin;
here, the target difference is expressed as a longitude coordinate difference (LON-LON 0), and similarly, a latitude coordinate difference (LAT-LAT 0) and an altitude coordinate difference (ELE-ELE 0).
And determining the grid coordinate of each dimension of the first receiving unit (OBU/VRU) according to the target difference of each dimension and a preset dimension step length corresponding to the preset step length range.
Here, the grid coordinates are expressed as m = { i, j, k } by the formula, and the formula of the grid coordinates in each dimension is expressed as:
It should be noted that, during the movement of the OBU/VRU on the road, the situation that the OBU/VRU receives the signal transmitted by the RSU is counted in units of grids, that is, when the OBU/VRU receives a message of a certain RSU in a grid with coordinates m = { i, j, k }, the RSU identifier D transmitting the message and the power P of the message should be recorded. The OBU/VRU can report the list of the message information Fteminal = { m, D } to the network side equipment after the duplication is removed periodically.
It should be noted that, according to the 3GPP specification, when the device of C-V2X sends a message, it needs to include a data Source Layer address (Source Layer-2 ID) in a header of a medium access control Layer (MAC Layer), which is an integer of 0 to 16777215, so the Source Layer-2 ID can be used as an identifier of an RSU. The application is not limited if other application layer identifiers can uniquely identify the RSU.
As shown in fig. 6, an embodiment of the present application further provides a device for determining roadside units that are hidden from each other, where the device is applied to a network side device, and the device includes:
an obtaining module 10, configured to obtain report information sent by a plurality of signal receiving units after receiving a signal sent by a roadside unit; the reported information comprises first identification information of the signal receiving unit and second identification information of the road side unit;
and a determining module 20, configured to determine, according to the multiple pieces of reported information, the roadside units that are hidden from each other in the multiple roadside units.
Optionally, the signal receiving unit includes a first receiving unit and a road side unit;
wherein, the obtaining module 10 includes:
the first acquisition unit is used for acquiring first reporting information sent by the first receiving unit after receiving the signal sent by the road side unit and acquiring second reporting information sent by the second receiving unit after receiving the signal sent by the road side unit;
wherein, the determining module 20 includes:
and the first determining submodule is used for determining the road side units which are hidden from each other in the plurality of road side units according to the first reporting information and the second reporting information.
Optionally, the first identification information of the signal receiving unit in the first reporting information is coordinate information of the first receiving unit;
the first determination submodule includes:
a first determining unit, configured to determine, according to the first identification information and the second identification information of the second report information, a first relation table of roadside units that are perceived from each other among the multiple roadside units;
the second determining unit is used for determining the number of the road side units which send signals to the preset step range corresponding to the coordinate information of the first receiving unit according to the first identification information and the second identification information of the first reporting information, and determining the road side units which send the signals according to the second identification information;
a third determining unit, configured to determine, if the number of the rsus is at least two, rsus that send signals according to the first relation table and the second identification information of the first receiving unit, and determine that the rsus are hidden from each other among the rsus;
a fourth determining unit, configured to determine the coordinate information of the first receiving unit if the number of the rsus is one, where rsus that are hidden from each other do not exist in the multiple rsus.
It should be noted that the coordinate information is represented by a grid coordinate, where the grid coordinate is a position coordinate formed by meshing a geographic position according to a preset step range in three dimensions of longitude, latitude, and height.
Optionally, the third determining unit includes:
the first determining subunit is configured to determine, by using each two rsus, a rsu to send a signal according to the second identification information of the first receiving unit, and arrange and combine the rsus in a group to determine multiple rsus;
and the second determining subunit is used for removing the road side units corresponding to the first relation table from the multiple groups of road side units and determining the remaining road side units as the road side units which are hidden from each other in the multiple road side units.
As shown in fig. 7, an embodiment of the present application further provides a signal processing apparatus, which is applied to a signal receiving unit, where the method includes:
the sending module 30 is configured to send report information to the network side device after receiving the interaction signal sent by the road side unit;
the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit.
It should be noted that the signal receiving unit includes a first receiving unit, and the first identification information of the signal receiving unit in the report information is coordinate information of the first receiving unit.
It should be further noted that the coordinate information is represented by grid coordinates, where the grid coordinates are position coordinates formed by meshing the geographic position in three dimensions of longitude, latitude, and height according to a preset step range.
Optionally, the apparatus further comprises:
a second obtaining module, configured to obtain a geographic location of the first receiving unit;
and the conversion module is used for converting the geographic position into a grid coordinate according to a preset step range acquired in advance.
Optionally, the conversion module includes:
the second acquisition unit is used for acquiring origin coordinates of grid coordinates, wherein the origin coordinates comprise coordinate values of the origin in three dimensions of longitude, latitude and height;
a fifth determining unit, configured to determine, according to the geographic location, coordinate values of the first receiving unit in three dimensions, namely longitude, latitude, and altitude;
a calculating unit, configured to calculate a target difference between the coordinate value in each dimension of the first receiving unit and the coordinate value in each dimension corresponding to the origin, respectively;
and a sixth determining unit, configured to determine a grid coordinate in each dimension of the first receiving unit according to the target difference in each dimension and a preset dimension step corresponding to the preset step range.
An embodiment of the present application further provides a network device, as shown in fig. 8, including: a processor 801, a memory 802 and a program stored in the memory 802 and capable of running on the processor 801, wherein the program, when executed by the processor 801, implements the steps of the method for determining mutual hidden rsus as described in any one of the above.
Optionally, the network side device further includes a transceiver 803, configured to receive and transmit data under the control of the processor 801.
Wherein in fig. 8 the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by the processor 801 and various circuits of the memory represented by the memory 802 being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 803 may be a number of elements including a transmitter and a receiver that provide a means for communicating with various other apparatus over a transmission medium. The processor 801 is responsible for managing the bus architecture and general processing, and the memory 802 may store data used by the processor 801 in performing operations.
An embodiment of the present application further provides a readable storage medium, where a program is stored, and when the program is executed by a processor, the step of the method for determining mutually hidden roadside units as described above is implemented, or when the program is executed, the step of the method for processing signals as described above is implemented.
The processor is the processor in the network side device and the terminal described in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It is further noted that the terminals described in this specification include, but are not limited to, smart phones, tablets, etc., and that many of the functional components described are referred to as modules in order to more particularly emphasize their implementation independence.
In the embodiments of the present application, the modules may be implemented in software so as to be executed by various types of processors. An identified module of executable code may, for instance, comprise one or more physical or logical blocks of computer instructions which may, for instance, be constructed as an object, procedure, or function. Nevertheless, the executables of an identified module need not be physically located together, but may comprise disparate instructions stored in different bits which, when joined logically together, comprise the module and achieve the stated purpose for the module.
Indeed, a module of executable code may be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs, and across several memory devices. Likewise, operational data may be identified within the modules and may be embodied in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed over different locations including over different storage devices, and may exist, at least partially, merely as electronic signals on a system or network.
When a module can be implemented by software, considering the level of hardware technology, a module implemented in software may build a corresponding hardware circuit to implement corresponding functions, without considering the cost, and the hardware circuit may include a conventional Very Large Scale Integration (VLSI) circuit or a gate array and an existing semiconductor such as a logic chip, a transistor, or other discrete components. A module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices or the like.
The exemplary embodiments described above are described with reference to the drawings, and many different forms and embodiments are possible without departing from the spirit and teaching of the present application, therefore, the present application is not to be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. In the drawings, the size and relative sizes of elements may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Unless otherwise indicated, a range of values, when stated, includes the upper and lower limits of the range and any subranges therebetween.
While the foregoing is directed to the preferred embodiment of the present application, it will be appreciated by those skilled in the art that various changes and modifications may be made therein without departing from the principles of the application, and it is intended to cover such changes and modifications as fall within the scope of the application.
Claims (14)
1. A method for determining mutually hidden road side units is applied to network side equipment, and the method comprises the following steps:
acquiring reported information sent by a plurality of signal receiving units after receiving signals sent by road side units; wherein, the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit;
and determining the road side units which are hidden from each other in the plurality of road side units according to the plurality of reported information.
2. The method of claim 1, wherein the signal receiving unit comprises a first receiving unit and a second receiving unit;
the method for acquiring the report information sent by the multiple signal receiving units after receiving the signals sent by the road side units comprises the following steps:
acquiring first reporting information sent by a first receiving unit after receiving a signal sent by a road side unit, and acquiring second reporting information sent by a second receiving unit after receiving the signal sent by the road side unit;
wherein, according to a plurality of said reported information, determine the road side units that are hidden each other among a plurality of road side units, including:
and determining the road side units which are hidden from each other in the plurality of road side units according to the first reporting information and the second reporting information.
3. The method of claim 2, wherein the first identification information of the signal receiving unit in the first report information is coordinate information of the first receiving unit;
determining the road side units which are hidden from each other in the plurality of road side units according to the first reporting information and the second reporting information, including:
determining a first relation table of the road side units which are perceived mutually in the plurality of road side units according to the first identification information and the second identification information of the second reported information;
determining the number of road side units which send signals to a preset step range corresponding to the coordinate information of the first receiving unit according to the first identification information and the second identification information of the first reporting information, and determining the road side units which send the signals according to the second identification information;
if the number of the road side units is at least two, determining the road side unit for sending the signal according to the first relation table and the second identification information of the first receiving unit, and determining road side units which are hidden from each other in the plurality of road side units;
if the number of the road side units is one, determining the coordinate information of the first receiving unit, wherein the road side units which are hidden from each other do not exist in the plurality of road side units.
4. The method according to claim 3, wherein the coordinate information is represented by grid coordinates, wherein the grid coordinates are position coordinates formed by gridding the geographic position according to a preset step range in three dimensions of longitude, latitude and height.
5. The method of claim 3, wherein determining RSUs from which signals are transmitted based on the first relationship table and the second identifying information of the first receiving unit, and determining RSUs that are hidden from each other among the RSUs, comprises:
determining the road side units which send signals according to the second identification information of the first receiving unit, and arranging and combining every two road side units into a group to determine a plurality of groups of road side units;
and removing the road side units corresponding to the first relation table from the multiple groups of road side units, and determining the remaining road side units as the road side units which are hidden from each other in the multiple road side units.
6. A signal processing method applied to a signal receiving unit, the method comprising:
after receiving an interactive signal sent by a road side unit, sending report information to network side equipment;
the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit.
7. The method of claim 6, wherein the signal receiving unit comprises a first receiving unit, and the first identification information of the signal receiving unit in the report information is coordinate information of the first receiving unit.
8. The method according to claim 7, wherein the coordinate information is represented by grid coordinates, wherein the grid coordinates are position coordinates formed by meshing the geographic position according to a preset step range in three dimensions of longitude, latitude and height.
9. The method of claim 8, further comprising:
acquiring the geographical position of the first receiving unit;
and converting the geographic position into a grid coordinate according to a preset step range acquired in advance.
10. The method of claim 9, wherein translating the geographic location to grid coordinates comprises:
acquiring an origin coordinate of a grid coordinate, wherein the origin coordinate comprises coordinate values of the origin in three dimensions of longitude, latitude and height;
according to the geographic position, determining coordinate values of the first receiving unit in three dimensions of longitude, latitude and height;
respectively calculating a target difference between the coordinate value of each dimension of the first receiving unit and the coordinate value of each dimension corresponding to the origin;
and determining the grid coordinates of each dimension of the first receiving unit according to the target difference of each dimension and a preset dimension step length corresponding to the preset step length range.
11. The utility model provides a mutual hidden RSU's confirming device which characterized in that, is applied to network side equipment, the device includes:
the acquisition module is used for acquiring the report information sent by the plurality of signal receiving units after receiving the signals sent by the road side unit; wherein, the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit;
and the determining module is used for determining the road side units which are hidden from each other in the plurality of road side units according to the plurality of reported information.
12. A signal processing apparatus, applied to a signal receiving unit, the method comprising:
the transmitting module is used for transmitting the report information to the network side equipment after receiving the interactive signal transmitted by the road side unit;
the reported information includes first identification information of the signal receiving unit and second identification information of the road side unit.
13. A network-side device, comprising: processor, memory and program stored on the memory and executable on the processor, the program, when executed by the processor, implementing the steps of the method for determining mutually hidden rsus according to any one of claims 1 to 5.
14. A readable storage medium, characterized in that the readable storage medium has stored thereon a program which, when being executed by a processor, implements the steps of the method for determining mutually hidden roadside units according to any one of claims 1 to 5, or implements the steps of the method for signal processing according to any one of claims 6 to 10.
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